Rock climbing blasting robot

Abstract

The invention discloses a rock climbing blasting robot, and relates to the technical field of blasting mechanical equipment, the rock climbing blasting robot comprises a main body base, a drilling and mine burying module and a power supply module, at least two climbing walking modules are movably arranged on the main body base, and each climbing walking module comprises a fixing module, a drilling module, a mine burying module and a power supply module; the fixing module is arranged at the end, away from the main body base, of the climbing walking module and used for being fixed to a rock wall. And the climbing driving module is in transmission connection with the fixing module and is used for driving the fixing module to move along the rock wall. By means of the mode, the rock climbing blasting robot can achieve rock climbing walking, the blasting operation requirement under the complex terrain is met, unmanned operation in the blasting field can be achieved easily, and development of the civil blasting industry can be promoted.

Description

Technical Field

[0001] The present invention relates to the technical field of blasting mechanical equipment, and in particular to a rock-climbing blasting robot. Background Art

[0002] Currently, the civil explosives industry faces widespread challenges: difficult mountaintops make climbing difficult, while manual pipe blasting is inefficient and results in high casualties. Therefore, there is an urgent need to design a robot capable of climbing mountain slopes and completing blasting tasks. This would address the difficulty of "out-of-reach" blasting, enable unmanned operations in high-risk areas, and promote high-quality development in the civil explosives industry.

[0003] In the related technology, the existing blasting robots mostly use tracks to walk; for complex and rugged mountainous areas, such robots are prone to fall off when walking and cannot achieve rock climbing, so it is difficult to meet the needs of blasting operations in complex terrain. Summary of the Invention

[0004] The purpose of the present invention is to overcome the above technical deficiencies and propose a rock climbing blasting robot to solve the technical problem that blasting robots in the prior art are unable to climb and walk, and are difficult to meet the needs of blasting operations in complex terrain.

[0005] In order to achieve the above technical objectives, the present invention adopts the following technical solutions:

[0006] The present invention provides a rock climbing and blasting robot, comprising a main body base, a drilling and mine laying module, and a power supply module. At least two climbing and walking modules are movably arranged on the main body base, and the climbing and walking modules include:

[0007] a fixing module, the fixing module being arranged at one end of the climbing and walking module away from the main body base and being used for fixing to the rock wall; and

[0008] A climbing drive module is in transmission connection with the fixing module and is used to drive the fixing module to move along the rock wall.

[0009] In some embodiments, the fixing module includes:

[0010] a fixed bracket connected to the climbing drive module; and

[0011] At least two grabbing and fixing modules are connected to the fixing bracket and are used for grabbing the rock wall.

[0012] In some embodiments, the grabbing and fixing module includes:

[0013] A connecting bracket connected to the fixing bracket;

[0014] a movable claw, movably arranged on the connecting bracket, for grasping the rock wall; and

[0015] The grabbing drive assembly is arranged on the connecting bracket and is transmission-connected to the movable claw for driving the movable claw to move.

[0016] In some embodiments, the fixing module includes a drilling fixing module, and the drilling fixing module includes:

[0017] Drill out the fixed motor and slide it along the X direction to set it on the fixed bracket;

[0018] a sliding drive member, fixedly mounted on the fixed bracket and drivingly connected to the drilling fixed motor, for driving the drilling fixed motor to slide along the X direction; and

[0019] The drilling fixed drill bit is fixedly connected to the output shaft of the drilling fixed motor and is used for drilling the rock wall.

[0020] In some embodiments, the climbing drive module includes:

[0021] A first robotic arm segment, rotatably connected to the main body base;

[0022] A second robotic arm segment, fixedly connected to the fixing module;

[0023] a third robotic arm segment, wherein both ends of the third robotic arm segment are rotatably connected to the first robotic arm segment and the second robotic arm segment, respectively, and the rotation axes of the rotational connections at both ends are parallel; and

[0024] a robotic arm drive assembly, in transmission connection with the first robotic arm segment, the second robotic arm segment, and the third robotic arm segment, for driving the first robotic arm segment, the second robotic arm segment, and the third robotic arm segment to rotate;

[0025] Wherein, the rotation axis between the first robotic arm segment and the second robotic arm segment is perpendicular to the rotation axis between the first robotic arm segment and the main body base.

[0026] In some embodiments, the third robotic arm segment comprises:

[0027] a first branch segment, located at one end of the third robotic arm segment close to the first robotic arm segment, and configured to connect to the first robotic arm segment; and

[0028] a second branch segment, located at one end of the third robotic arm segment close to the second robotic arm segment, and used for connecting to the second robotic arm segment;

[0029] The first branch segment and the second branch segment are rotationally connected, and their rotation axes are parallel to the rotation axis between the first robotic arm segment and the third robotic arm segment.

[0030] In some embodiments, the drilling module includes a drilling module, and the drilling module includes:

[0031] mine drill bits, used to drill holes in rock walls;

[0032] A drill barrel, the drill barrel being rotatably mounted on the main body base, the drill barrel being telescopically mounted along its axial direction, and the mine-burying drill bit being mounted at one end of the drill barrel close to the rock wall;

[0033] a drilling drive, fixedly mounted on the main body base and drivingly connected to the drill barrel, for driving the drill barrel to rotate; and

[0034] The telescopic driving member is fixedly arranged on the main body base and is transmission-connected to one end of the drill barrel close to the mine-burying drill bit, and is used for driving the telescopic movement of the drill barrel.

[0035] In some embodiments, a detonator placement port is provided on the end of the drill barrel away from the mine-burying drill bit, a detonator discharge outlet connected to the detonator placement port is provided on the mine-burying drill bit, and an outlet control component for opening or closing the detonator discharge outlet is also movably provided on the mine-burying drill bit.

[0036] In some embodiments, the mine-laying drill bit comprises:

[0037] a drill body, the interior of which is hollow and one end of which is connected to the drill barrel;

[0038] At least two drill bits are movably arranged along the radial direction of the drill body on the end surface of the drill body away from the drill barrel.

[0039] In some embodiments, the drilling and mine laying module further includes a drill bit switching module, and the drill bit switching module includes:

[0040] a drill bit storage platform, movably arranged on the main body base;

[0041] a switching drive assembly, disposed on the main body base and in transmission connection with the drill bit storage platform, for driving the drill bit storage platform toward or away from the drilling module;

[0042] a turntable rotatably disposed on the drill bit storage platform and having a plurality of drill bit fixing structures for placing the mine-burying drill bits; and

[0043] The first rotary driving member is fixedly arranged on the drill bit storage platform and is transmission-connected to the turntable for driving the turntable to rotate.

[0044] In some embodiments, the drilling mine burying module further includes a detonator storage module, and the detonator storage module includes:

[0045] a detonator storage platform, rotatably disposed on the main body base, for storing spare detonators;

[0046] a second rotary driving member, fixedly disposed on the main body base and drivingly connected to the detonator storage platform, for driving the detonator storage platform to rotate; and

[0047] The detonator grabbing assembly is arranged on the main body base and is used for grabbing the detonators on the detonator storage platform and putting them into the detonator placement opening.

[0048] In some embodiments, the detonator grabbing assembly comprises:

[0049] A lifting platform slides up and down on the main body base;

[0050] A grabbing platform is horizontally slidably arranged on the lifting platform;

[0051] a mechanical claw, fixedly disposed on a side of the grabbing platform close to the drilling module, for grabbing the detonator on the grabbing platform; and

[0052] The sliding drive assembly is in transmission connection with the grabbing platform and is used for driving the grabbing platform to move.

[0053] In some embodiments, the power module includes:

[0054] a storage battery, fixedly mounted on the main body base, for supplying power; and

[0055] The solar energy storage module is arranged on the main body base and is electrically connected to the battery for charging the battery.

[0056] In some embodiments, the main body base is further provided with an exploration and identification module, and the exploration and identification module includes:

[0057] A laser radar is fixedly mounted on the main body base and is used to scan and detect the surrounding environment;

[0058] a depth camera, fixedly mounted on the main body base, for identifying surrounding rock formations; and

[0059] The control module is fixedly arranged on the main body base and is electrically connected to the laser radar and the depth camera for information processing and issuing instructions.

[0060] Compared with the prior art, the present invention provides a rock climbing and blasting robot. By arranging multiple climbing and walking modules on the main body base, the climbing drive module can drive the corresponding fixed module to move with the help of the power supply module, so as to achieve an effect similar to multi-legged walking. At the same time, when encountering complex terrain such as a mountain rock wall, the climbing drive module drives the fixed module to move forward on the rock wall, and the fixed module can hold the rock wall firmly during the moving process, thereby achieving rock climbing and walking. In addition, in conjunction with the drilling and mine laying module arranged on the main body base, the rock climbing and blasting robot can also independently complete the operation process of drilling, laying mines and blasting during the walking process. In the above manner, the rock climbing and blasting robot can achieve rock climbing and walking, meet the needs of blasting operations under complex terrain, help to realize unmanned blasting, and promote the development of the civil explosives industry. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] Figure 1 1 is a schematic diagram of the overall structure of a rock climbing and blasting robot according to an embodiment of the present invention;

[0062] Figure 2 This is a schematic structural diagram of a climbing and walking module in one embodiment of the present invention;

[0063] Figure 3 This is a schematic structural diagram of a grabbing and fixing module in one embodiment of the present invention;

[0064] Figure 4 is a first structural diagram of a drilling and fixing module in one embodiment of the present invention;

[0065] Figure 5 is a second structural diagram of a drilling and fixing module in one embodiment of the present invention;

[0066] Figure 6 is a schematic cross-sectional view of a drill barrel and a mine-laying drill bit according to one embodiment of the present invention;

[0067] Figure 7 is a structural diagram of a drill bit switching module in one embodiment of the present invention;

[0068] Figure 8 It is a structural schematic diagram of a detonator storage module in one embodiment of the present invention.

[0069] Description of reference numerals:

[0070] 1. Main body base; 101. Base; 102. Frame;

[0071] 2. Drilling module; 21. Drill barrel; 211. Detonator placement port; 212. Elastic latch; 22. Drilling drive; 23. Mine drill bit; 231. Drill body; 2311. Slide; 2312. Elastic member; 232. Drill cutter; 2321. Detonator discharge port;

[0072] 3. Climbing and walking module; 31. Climbing drive module; 311. First robotic arm segment; 312. Second robotic arm segment; 313. Third robotic arm segment; 3131. First branch segment; 3132. Second branch segment; 314. First drive motor; 315. Second drive motor; 316. Third drive motor; 317. Fourth drive motor; 32. Fixing module; 321. Fixing bracket; 322. Grasping and fixing module; 3221. Bracket connecting part; 3222. Connecting shaft; 3223. Movable claw; 3224. Stop block; 3225. Spring; 3226. Linear motor; 323. Drilling and fixing module; 3231. Drilling and fixing motor; 3232. Drilling and fixing drill bit; 3233. Slide; 3234. Sliding drive element;

[0073] 4. Detonator; 41. Structural reinforcement;

[0074] 5. Drill bit switching module; 51. First bracket; 52. Second bracket; 53. Drill bit storage platform; 531. Platform connection part; 532. Turntable; 5321. Notch;

[0075] 6. Detonator storage module; 61. Detonator storage platform; 611. Placement slot; 62. Second rotary drive member; 621. Internal gear; 63. Lifting platform; 64. Grasping platform; 65. Longitudinal guide rail; 66. Horizontal guide rail; 67. Sliding drive assembly; 671. Rack; 68. Mechanical claw;

[0076] 7. Solar energy storage module; 71. Solar panel;

[0077] 8. LiDAR;

[0078] 9. Depth camera;

[0079] 10. Control module. DETAILED DESCRIPTION

[0080] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0081] In order to solve the above technical problems, the present invention provides a rock climbing and blasting robot that can achieve rock climbing and walking, meeting the needs of blasting operations in complex terrain.

[0082] It should be noted that the rock climbing and blasting robot provided by the present invention can be used for but not limited to mountainous areas. For the sake of convenience, in the present invention, only the application of the rock climbing and blasting robot in mountainous areas is used as an example for explanation. The principles of application of the rock climbing and blasting robot in other terrains are essentially the same as those in mountainous terrains, and will not be elaborated here.

[0083] See also Figure 1 , Figure 1 This is a schematic diagram of the overall structure of a rock climbing and blasting robot in one embodiment of the present invention. The rock climbing and blasting robot includes a main body base 1, on which are respectively provided a drilling and mine-laying module, at least two climbing and walking modules 3 and a power supply module; wherein the power supply module is electrically connected to the drilling and mine-laying module and each climbing and walking module 3 at the same time to play the role of power supply.

[0084] In actual work, with the help of power supply from the power module, multiple climbing and walking modules 3 can jointly achieve an effect similar to multi-legged walking. During the walking process of the rock climbing and blasting robot, the drilling and mine laying module can also independently complete the operation process of drilling, mine laying and blasting.

[0085] See also Figure 1 The above-mentioned main body base 1 includes a base 101 and a frame 102 fixedly set on the base 101; wherein, the base 101 can be set to a square structure; correspondingly, the frame 102 is fixedly mounted on one side of the base 101, and its shape structure can be designed according to the shape structure of the base 101 to ensure that its internal core components are covered, and no specific limitation is made to this.

[0086] The above-mentioned multiple climbing and walking modules 3 can be arranged on the peripheral side of the base 101. In order to ensure the stability of the robot's walking, each climbing and walking module 3 can be arranged on the peripheral side of the base 101 in a uniformly distributed manner, thereby ensuring that the multiple climbing and walking modules 3 can provide stable support for the main base 1 as a whole.

[0087] In one embodiment, four climbing and walking modules 3 are provided, each connected to one of the corners of the base 101, thereby effectively supporting the main base 1. In actual operation, each climbing and walking module 3 cooperates with each other to form a foot of the robot, thereby enabling the robot to form a structure similar to quadrupedal walking.

[0088] It should be understood that the above-mentioned climbing and walking modules 3 can also be provided with 2, 3, 5 or more as needed. The specific number can be determined according to actual needs and is not specifically limited thereto.

[0089] See also Figure 2Taking one of the climbing and walking modules 3 as an example, the climbing and walking module 3 includes a fixing module 32 and a climbing drive module 31. The fixing module 32 is arranged at the end of the climbing and walking module 3 away from the base 101 and can be used to grasp the rock wall, while the climbing drive module 31 is transmission-connected to the fixing module 32 and can be used to drive the fixing module 32 to move along the rock wall.

[0090] In actual work, the climbing drive module 31 can drive the fixing module 32 to move along the mountain rock wall, thereby achieving the walking effect; and during the robot's walking process, the fixing module 32 can grab the rock wall, thereby fixing the entire robot on the mountain rock wall to ensure that the rock climbing blasting robot can achieve rock climbing and walking.

[0091] In this embodiment, the climbing drive module 31 may be composed of a robotic arm. Specifically, the climbing drive module 31 includes a first robotic arm segment 311, a second robotic arm segment 312, and a third robotic arm segment 313. The first robotic arm segment 311 may be rotatably connected to the main base 1 via a rotating shaft, the second robotic arm segment 312 may be rotatably connected to the fixing module 32 via a rotating shaft, and both ends of the third robotic arm segment 313 may be rotatably connected to the adjacent ends of the first robotic arm segment 311 and the second robotic arm segment 312, respectively, via rotating shafts.

[0092] It should be noted that in order to allow the climbing and walking module 3 to form multiple degrees of freedom of movement, the rotation axes at both ends of the above-mentioned third robotic arm segment 313 can be set in parallel; at the same time, the rotation axis between the first robotic arm segment 311 and the second robotic arm segment 312 can be perpendicular to the rotation axis between the first robotic arm segment 311 and the main base 1.

[0093] At the same time, the above-mentioned climbing drive mechanism also includes a robot arm drive component, which can be used to drive the movement of each robot arm segment to realize the walking action of the climbing walking module 3.

[0094] Specifically, the robotic arm drive assembly includes a first drive motor 314, a second drive motor 315, and a third drive motor 316. The first drive motor 314 is fixedly mounted on the first robotic arm segment 311 and connected to the rotating shaft between the first robotic arm segment 311 and the main body base 1, thereby driving the first robotic arm segment 311 to rotate. Similarly, the second drive motor 315 can be connected to the rotating shaft between the second robotic arm segment 312 and the third robotic arm segment 313, thereby driving the second robotic arm segment 312 to rotate; the third drive motor 316 can be connected to the rotating shaft between the first robotic arm segment 311 and the third robotic arm segment 313, thereby driving the third robotic arm segment 313 to rotate.

[0095] In the above manner, the entire climbing drive module 31 is composed of the first robotic arm segment 311 , the second robotic arm segment 312 and the third robotic arm segment 313 , forming a structural design with three degrees of freedom.

[0096] The third arm segment 313 can also be split into multiple branch segments to form a structural design with more degrees of freedom. For example, in another embodiment, the third arm segment 313 includes a first branch segment 3131 and a second branch segment 3132. The first branch segment 3131 is located at the end of the third arm segment 313 near the first arm segment 311 and is rotationally connected to the first arm segment 311 via a rotating shaft. The second branch segment 3132 is located at the end of the third arm segment 313 near the second arm segment 312 and is rotationally connected to the second arm segment 312 via a rotating shaft. At the same time, the first branch segment 3131 and the second branch segment 3132 can also be rotationally connected via a rotating shaft, and their rotation axes can be parallel to the rotation axis between the first arm segment 311 and the first branch segment 3131. In this way, the entire climbing drive module 31 will form a structural design with four degrees of freedom.

[0097] At this time, the robotic arm drive assembly includes a first drive motor 314, a second drive motor 315, a third drive motor 316 and a fourth drive motor 317; wherein, the first drive motor 314 is fixedly arranged on the first robotic arm segment 311 and is connected to the rotating shaft between the first robotic arm segment 311 and the main body base 1, the second drive motor 315 is connected to the rotating shaft between the second branch segment 3132 and the second robotic arm segment 312, the third drive motor 316 can be connected to the rotating shaft between the first robotic arm segment 311 and the first branch segment 3131, and the fourth drive motor 317 can be connected to the rotating shaft between the first branch segment 3131 and the second branch segment 3132.

[0098] It should be understood that the climbing drive module 31 is entirely composed of a robotic arm, and the actual number of degrees of freedom it has can be flexibly designed according to needs, and no specific limitation is made thereto.

[0099] See also Figure 2-3 The above-mentioned fixing module 32 is mainly used to grab the rock wall so that the robot can achieve rock climbing.

[0100] In this embodiment, the fixing module 32 includes a fixing bracket 321 and at least two grabbing and fixing modules 322 ; wherein the fixing bracket 321 is used to connect to the climbing drive module 31 , and the grabbing and fixing modules 322 are used to grab the rock wall.

[0101] Specifically, the fixing bracket 321 can be configured as a hollow cylindrical structure, or other structures as needed, without specific limitation. The side of the fixing bracket 321 proximal to the climbing drive module 31 is fixedly connected to the adjacent end of the second robotic arm segment 312, allowing the fixing module 321 to move with the second robotic arm segment 312. The individual grabbing and fixing modules 322 can be positioned on the side of the fixing bracket 321 distal to the second robotic arm segment 312.

[0102] It should be understood that the above-mentioned grabbing and fixing modules 322 can be provided with 2, 3, 4, 5, 6 or more, and no specific limitation is made on this premise that the grabbing stability of the fixing module 32 on the rock wall is guaranteed.

[0103] In one embodiment, eight gripping and fixing modules 322 can be provided. These eight gripping and fixing modules 322 are preferably arranged in a circumferentially evenly distributed pattern on the end surface of the fixed support 321 to ensure support stability. Taking one of the gripping and fixing modules 322 as an example, the gripping and fixing module 322 comprises a connecting bracket, a movable claw 3223, and a gripping drive assembly. The connecting bracket is primarily used to connect to the fixed support 321, the movable claw 3223 is movably mounted on the connecting bracket for gripping the rock wall, and the gripping drive assembly is in transmission connection with the movable claw 3223 for driving the movable claw 3223 to move.

[0104] Specifically, the above-mentioned connecting bracket includes a bracket connecting part 3221 for connecting the fixed bracket 321. The bracket connecting part 3221 can form a rotational connection with the fixed part through a rotating shaft, so that the grabbing and fixing module 322 as a whole can swing up and down on the lower side of the fixed bracket 321; and in order to ensure that the grabbing and fixing module 322 can always maintain a sufficient gripping area, a damping can be set on the rotating shaft between the bracket connecting part 3221 and the fixed bracket 321, or a limit block can be set, so that the grabbing and fixing module 322 as a whole can only swing within a certain angle range, and will not be vertically downward; for example, the angle between the grabbing and fixing module 322 and the bottom surface of the fixed bracket 321 can be controlled between 15-60 degrees, or it can be set to other angle ranges as needed, and there is no specific limitation on this.

[0105] The connecting bracket also includes a connecting shaft 3222 fixedly mounted on the side of the bracket connecting portion 3221 facing away from the fixed bracket 321. The movable claw 3223 is mounted on the connecting shaft 3222 on the side closest to the bracket connecting portion 3221 and is rotatably connected to the connecting shaft 3222, allowing the movable claw 3223 to rotate about the connecting shaft 3222. To ensure that the movable claw 3223 can directly contact the rock wall, the rotation angle of the movable claw 3223 on the connecting shaft 3222 can also be limited in a similar manner. For example, the rotation angle can be controlled between -15 and 15 degrees, although the specific details are not limited. At the same time, a stopper 3224 can be fixedly mounted on the end of the connecting shaft 3222 away from the bracket connecting portion 3221. The stopper 3224 can prevent the movable claw 3223 from disengaging from the connecting shaft 3222.

[0106] In one embodiment, the above-mentioned grasping drive assembly includes a spring 3225 and a linear motor 3226. The spring 3225 is sleeved on the connecting shaft 3222 and is located between the bracket connecting part 3221 and the movable claw 3223; the linear motor 3226 is slidably set on the connecting shaft 3222 and is located between the spring 3225 and the bracket connecting part 3221. When the linear motor 3226 starts operating, it can slide back and forth along the connecting shaft 3222, thereby tightening or loosening the spring 3225. When the linear motor 3226 moves toward the side where the movable claw 3223 is located, the linear motor 3226 pushes the movable claw 3223 through the spring 3225, causing the inner side of the movable claw 3223 to abut against the stopper 3224 on the connecting shaft 3222, thereby tensioning the movable claw 3223. When the linear motor 3226 moves toward the side where the bracket connection portion 3221 is located, the spring 3225 is released, allowing the movable claw 3223 to move along the connecting shaft 3222 to a certain extent, so that the movable claw 3223 is in a relaxed state. In this way, when the movable claw 3223 is tightened, it helps the gripping and fixing module 322 to grip the rock wall. When the movable claw 3223 is relaxed, it facilitates the gripping and fixing module 322 to release the rock wall, thereby completing the walking process.

[0107] It should be understood that the grabbing drive assembly may also adopt other structural forms, such as a structural form in which an electric cylinder, a slider and a spring 3225 cooperate with each other. Without changing the working principle, it does not exceed the scope of the present invention.

[0108] See also Figure 4-5 The above-mentioned fixing module 32 may also include a drilling fixing module 32332. While the grabbing fixing module 322 grabs the rock wall, the drilling fixing module 32332 can drill into the rock wall, further improving the overall stability of the robot.

[0109] In this embodiment, the drilling and fixing module 32332 includes a drilling and fixing motor 3231, a drilling and fixing drill bit 3232, and a sliding drive 3234. The drilling and fixing motor 3231 is slidably mounted inside the fixing bracket 321 along the X direction, and the drilling and fixing drill bit 3232 is fixedly mounted on the drilling and fixing motor 3231. The sliding drive 3234 is connected to the drilling and fixing motor 3231 and is used to drive the drilling and fixing motor 3231 to slide along the X direction. In this way, the drilling and fixing motor 3231 can drive the drilling and fixing drill bit 3232 to rotate; at the same time, the sliding drive 3234 can drive the drilling and fixing motor 3231 and the drilling and fixing drill bit 3232 to synchronously advance, thereby drilling into the rock wall.

[0110] Specifically, to mount the drilling motor 3231, a slide 3233 is fixedly mounted inside the fixed bracket 321. The slide 3233 can be positioned along the central axis of the fixed bracket 321. The drilling motor 3231 can be slidably mounted on the slide 3233 via a slider. The aforementioned sliding drive 3234, which can be a motor or other similar drive component, can be fixedly mounted on the slide 3233 and connected to the slider mounted on the drilling motor 3231, thereby driving the drilling motor 3231 to slide along the slide 3233. In this case, the X direction is the axial direction of the fixed bracket 321.

[0111] See also Figure 1 and Figure 6 The above-mentioned drilling and mine-laying module is mainly used to complete the operation process of drilling and laying mines on the rock wall. It includes a drilling module 2, a drill bit switching module 5 and a detonator storage module 6; among them, the drilling module 2 can drill holes in the rock wall, the drill bit switching module 5 is used to supply a variety of drill bits to the drilling module 2, and the detonator storage module 6 is used to store spare detonators 4 and supply the drilling module 2 with the detonators 4 required for blasting.

[0112] In this embodiment, the drilling module 2 includes a mine drill bit 23 provided on one side of the main base 1 and a drilling drive 22 for driving the mine drill bit 23. The drilling drive 22 can drive the mine drill bit 23 to rotate, thereby drilling a hole in the rock wall.

[0113] Specifically, to install the mine-laying drill bit 23, a drill barrel 21 is mounted on one side of the main body base 1 via a bracket. The drill barrel 21 is a hollow cylindrical structure and can be rotatably mounted on the corresponding bracket via a sleeve. The opening at the upper end of the drill barrel 21 constitutes a detonator placement port 211, while its lower end is used to mount the mine-laying drill bit 23. A drilling driver 22 can be a motor, which can be fixed to the same side of the main body base 1 via bolts. The motor and the drill barrel 21 are connected via a pulley mechanism or other similar conventional mechanism. This allows the drilling driver 22 to rotate the drill barrel 21, thereby indirectly driving the mine-laying drill bit 23.

[0114] To further drill the rock wall, the drill barrel 21 is configured to be retractable along its axis, i.e., it can be configured as a telescopic structure. Furthermore, a telescopic drive element (obscured in the figure and not visible) is also provided on the main base 1 near the drill barrel 21 for driving the drill barrel 21 to extend and retract. This telescopic drive element can be a pneumatic cylinder, an electric cylinder, or other similar drive element. For example, an electric cylinder can be bolted to the main base 1 in an orientation parallel to the axis of the drill barrel 21, and its output end can be fixedly connected to the lower portion of the drill barrel 21. Thus, when the electric cylinder begins operation, it drives the lower portion of the drill barrel 21 to reciprocate along its axis. In this way, as the drilling drive element 22 drives the drill barrel 21 and the mine-laying drill bit 23 to rotate, the telescopic drive element can cause the lower portion of the drill barrel 21 to extend downward, allowing the mine-laying drill bit 23 to continue drilling into the rock wall until it reaches the desired depth.

[0115] See also Figure 6 The opening at the upper end of the drill barrel 21 constitutes a detonator placement opening 211. After the mine-burying drill bit 23 completes drilling into the rock wall, the detonator 4 is placed into the drill barrel 21 through the detonator placement opening 211. To facilitate the burial of the detonator 4, the mine-burying drill bit 23 is further provided with a detonator discharge opening 2321 connected to the detonator placement opening 211, so that the detonator 4 can be discharged through the drill barrel 21 to the detonator discharge opening 2321, and finally discharged from the detonator discharge opening 2321, completing the burial of the detonator 4.

[0116] Specifically, the mine-laying drill bit 23 includes a drill body 231, which is hollow and connected to the drill barrel 21 at one end. The two are detachably connected by a snap-fit mechanism. A detonator discharge port 2321 is located at the end of the drill body 231 distal from the drill barrel 21. Furthermore, at least two drill bits 232 are provided at the end of the drill body 231 distal from the drill barrel 21. Each drill bit 232 is movably mounted radially along the end surface of the drill body 231 distal from the drill barrel 21. For example, four drill bits 232 may be provided, each having corresponding cross-shaped sliding grooves 2311 disposed on the end surface of the drill body 231. Each drill bit 232 can be slidably mounted on the end surface of the drill body 231 via these sliding grooves 2311, thereby enabling each drill bit 232 to be moved and adjusted. It should be noted that the number of drill bits 232 can be two, three, five, or more, as needed. The specific number is determined based on actual needs and is not specifically limited.

[0117] When each drill bit 232 moves toward the inner side of the corresponding end face at the same time, the detonator discharge outlet 2321 is closed, and the mine-burying drill bit 23 is in the drilling working state; and when each drill bit 232 moves toward the outer side of the corresponding end face at the same time, the detonator discharge outlet 2321 is opened, and the detonator 4 can be discharged through the detonator discharge outlet 2321. At this time, the mine-burying drill bit 23 is in the detonator 4 discharge and burying state.

[0118] Considering that in practice, drilling is usually performed before mine laying, the initial position of each drill bit 232 on the drill body 231 should be close together, that is, each drill bit 232 is located inside the corresponding end surface of the drill body 231. In this state, each drill bit 232 blocks the detonator discharge port 2321; when the mine laying drill bit 23 begins drilling, crushed rock debris will not enter the drill body 231 through the detonator discharge port 2321.

[0119] To achieve this, in one embodiment, multiple elastic members 2312 may be provided within the cross-shaped chute 2311. These elastic members 2312 may be springs 3225. The springs 3225 are provided in a one-to-one correspondence with the drill bits 232, and each spring 3225 is located on the outside of the corresponding drill bit 232 (the one closer to the center of the drill body 231 is the inside, and the one farther from the center of the drill body 231 is the outside). To prevent rock debris from entering the chute 2311 and affecting the springs 3225, each chute 2311 may be sealed with a cover.

[0120] During operation, each spring 3225 is in an elastically compressed state. Thus, in the initial state (i.e., before drilling begins), each spring 3225 pushes the corresponding drill bit 232, positioning it inwardly of the end face of the drill body 231. This causes the drill bits 232 to initially be close together. As drilling begins, the drill bits 232, squeezed by the rock wall, continue to move closer together, sealing the detonator outlet 2321. Thus, each drill bit 232 constitutes an outlet control element for opening or closing the detonator outlet 2321.

[0121] See also Figure 6 After the mine-laying drill bit 23 completes drilling, to further facilitate the discharge of the detonator 4, an elastic latch 212 is provided within the drill barrel 21. Specifically, the elastic latch 212 can be located on the inner wall of the portion of the drill barrel 21 that does not drill with the mine-laying drill bit 23 (i.e., the portion of the drill barrel 21 that is connected to the drilling drive). Two, three, or more elastic latches 212 can be evenly spaced along the circumference of the drill barrel 21, although this is not specifically limited. It should be understood that the side of the elastic latch 212 closest to the detonator placement opening 211 is a compressible side, while the side facing away from the detonator placement opening 211 is an incompressible side.

[0122] Thus, when the detonator 4 enters the drill barrel 21 through the detonator placement opening 211, it slides down the inner wall of the drill barrel 21 under the action of gravity. When the detonator 4 contacts the elastic latch 212, it presses against the compressible side of the elastic latch 212, causing the elastic latch 212 to compress, allowing the detonator 4 to continue moving downward until the end of the detonator 4 (i.e., the end closest to the detonator placement opening 211) passes over the elastic latch 212. At this point, restricted by the elastic latch 212, the detonator 4 cannot use the incompressible side of the elastic latch 212 to compress the elastic latch 212, and thus cannot be pushed upward and pass over the elastic latch 212 again. Therefore, the lower end of the detonator 4 is restricted by the drill bits 232 and cannot be discharged from the detonator discharge opening 2321 below. Meanwhile, the upper end of the detonator 4 is restricted by the elastic latch 212 and cannot exit the detonator placement opening 211.

[0123] As the drilling operation is completed, the telescopic drive member retracts the drill barrel 21, causing the entire mine-laying drill bit 23 to move upward. At this point, the upper end of the detonator 4 is restrained by the elastic latches 212 and cannot move. The lower end of the detonator 4 presses against the drill bits 232, forcing them to move along their corresponding chute 2311 toward the outside of the end face of the drill body 231, thereby opening the detonator discharge port 2321. As the drill barrel 21 continues to retract, the detonator 4 gradually passes over the detonator discharge port 2321 until its upper end passes over the port, completely discharging the detonator 4 and completing its placement.

[0124] In another embodiment, to facilitate the detonator 4's compression of the individual drill bits 232 and ultimate ejection, the inner sidewall of the drill bit 232 (i.e., the side closest to the center of the drill body 231) can be configured as an inclined surface. Accordingly, a structural reinforcement 41 can be provided at the lower end of the detonator 4 (i.e., the end that initially passes over the detonator ejection port 2321). This structural reinforcement 41 can be made of any material with a certain strength, and is not specifically limited thereto. Preferably, the structural reinforcement 41 has a hemispherical structure. When the detonator 4 contacts the drill bit 232, the lower end of the detonator 4 is pressed against the inclined surface of the drill bit 232 via the structural reinforcement 41, thereby improving safety and facilitating ejection.

[0125] See also Figure 1 and Figure 7 The drill bit switching module 5 is mainly used to store spare mine-burying drill bits 23 and automatically replace the mine-burying drill bits 23 when necessary to meet the needs of drilling operations in different occasions.

[0126] In this embodiment, the drill bit switching module 5 is integrally mounted on the underside of the main body base 1 and includes a drill bit storage platform 53 for storing spare mine-burying drill bits 23. Specifically, to mount the drill bit storage platform 53, a first bracket 51 is fixedly mounted on the main body base 1 and parallel to its bottom surface. A second bracket 52 is slidably mounted on the first bracket 51 via a slide rail, and the drill bit storage platform 53 is slidably mounted on the second bracket 52 via a slide rail.

[0127] Among them, the slide rail on the first bracket 51 is parallel to the bottom surface of the main base 1, and the slide rail on the second bracket 52 is perpendicular to the slide rail on the first bracket 51. The sliding movement of the second bracket 52 on the first bracket 51 and the sliding movement of the drill storage platform 53 on the second bracket 52 can both be driven by a motor in conjunction with a lead screw; of course, other driving methods can also be used, and this is not specifically limited. Under the action of the motor and the lead screw, the drill storage platform 53 can move along the slide rail on the first bracket 51 and approach the drilling module 2, and can also move along the slide rail on the second bracket 52, thereby driving the spare drill bit to rise or fall. It can be seen that the above-mentioned first bracket 51, second bracket 52, each motor and each lead screw can together constitute a switching drive component for driving the drill storage platform 53.

[0128] In this embodiment, the drill bit storage platform 53 includes a platform connecting portion 531 for connecting to the second bracket 52. A turntable 532 is provided on the side of the platform connecting portion 531 away from the second bracket 52, and a first rotating driving component (blocked in the figure and not shown) for driving the turntable 532 to rotate is also provided on the platform connecting portion 531.

[0129] The turntable 532 is provided with a plurality of drill bit retaining structures for accommodating spare mine-laying drill bits 23. The drill bit retaining structures may be open bayonet-type or similar structures for convenient access, without specific limitation. The drill bit retaining structures may be evenly distributed around the turntable 532, and each drill bit retaining structure may removably accommodate a spare mine-laying drill bit 23.

[0130] The above-mentioned first rotating drive member (blocked in the figure and not shown) can be a motor, and the motor and the rotating shaft of the turntable 532 can be connected through a pulley mechanism or a similar transmission mechanism, so that the first rotating drive member can drive the turntable 532 to rotate.

[0131] In this manner, when the mine-laying drill bit 23 needs to be replaced, the drill bit storage platform 53 first slides along the first bracket 51 with the second bracket 52 and approaches the drill bit. Subsequently, the first rotary drive member rotates the turntable 532, aligning one of the spare mine-laying drill bits 23 on the turntable 532 with the installation position on the underside of the drill barrel 21. Next, the drill bit storage platform 53 slides upward along the second bracket 52, raising the turntable 532 as a whole, and inserts the spare mine-laying drill bit 23 into the corresponding installation position. The mine-laying drill bit 23 is then engaged with the drill barrel 21, achieving automatic installation of the mine-laying drill bit 23. Finally, the drill bit storage platform 53, with the aid of the second bracket 52 and the first bracket 51, returns to its initial position and waits for further use.

[0132] See also Figure 1 and Figure 8 The above-mentioned detonator storage module 6 is mainly used to store spare detonators 4 and automatically place the detonator 4 into the detonator placement port 211 when necessary.

[0133] In this embodiment, the detonator storage module 6 includes a detonator storage module 61, a second rotary drive member 62, and a detonator grabbing assembly. The detonator storage module 61 is rotatably mounted on the main body base 1. The second rotary drive member 62 is in transmission connection with the detonator storage module 61, driving the detonator storage module 61 to rotate. The detonator grabbing assembly is mounted on the main body base 1 and is capable of grabbing the detonator 4 from the detonator storage module 61 and placing it into the detonator placement opening 211.

[0134] Specifically, the detonator storage module 61 can be rotatably mounted on the main body base 1 via a rotating shaft, and can be provided with a plurality of placement slots 611 for placing the detonators 4. For example, the detonator storage module 61 can be configured as a disc-shaped structure, and the plurality of placement slots 611 can be evenly distributed around the circumference of the detonator storage module 61. Of course, the detonator storage module 61 can also be configured as other shapes as needed, and the plurality of placement slots 611 can also be arranged in a different manner as needed, and this is not specifically limited.

[0135] The second rotary drive member 62 can be a motor or other drive member. Taking the motor as an example, to drive the detonator storage module 61 to rotate, the motor can be fixed to the main body base 1, and a gear can be provided on the motor's output shaft. Correspondingly, an annular internal gear 621 can be provided on the detonator storage module 61. In this way, the gear connected to the motor meshes with the internal gear 621 on the detonator storage module 61. When the motor is started, the motor can drive the detonator storage module 61 to rotate on the main body base 1. Of course, the transmission between the second rotary drive member 62 and the detonator storage module 61 can also adopt other transmission mechanisms, such as a pulley transmission mechanism, and this is not specifically limited.

[0136] In this embodiment, the detonator grabbing assembly comprises a lifting platform 63 that slides up and down on the main body base 1, a grabbing platform 64 that slides horizontally on the lifting platform 63, and a mechanical claw 68 fixedly mounted on the grabbing platform 64. The grabbing platform 64 drives the mechanical claw 68 to slide horizontally along the lifting platform 63, while the lifting platform 63 drives the grabbing platform 64 and the mechanical claw 68 to move upward and downward as a whole.

[0137] Specifically, the main body base 1 is fixedly provided with longitudinal guide rails 65, on which the lifting platform 63 is slidably mounted and driven by a motor and a lead screw to achieve lifting motion. Furthermore, the lifting platform 63 is fixedly provided with transverse guide rails, on which the gripping platform 64 is slidably mounted. Furthermore, the lifting platform 63 is provided with a sliding drive assembly 67, which is in transmission connection with the gripping platform 64 and can drive the gripping platform 64 to slide along the transverse guide rails.

[0138] The above-mentioned sliding drive component 67 can adopt a variety of drive forms. For example, in one embodiment, the sliding drive component 67 includes a motor fixedly set on the lifting platform 63, a gear fixedly set on the output shaft of the motor, and a rack 671 fixedly set on the side of the grabbing platform 64 close to the lifting platform 63. The gear is engaged with the rack 671. After the motor is started, the motor drives the gear to rotate, and the gear drives the grabbing platform 64 to move along the transverse guide rail through the rack 671.

[0139] The above-mentioned mechanical claw 68 can be set on the side of the grasping platform 64 close to the above-mentioned drilling module 2, and it can adopt any automated claw with mechanical clamping and releasing functions. The specific structure of the mechanical claw 68 belongs to the existing technology and is not the focus of the present invention, so it will not be repeated here.

[0140] In actual operation, the detonator storage module 61 can rotate so that one of the detonators 4 is located under the mechanical claw 68. The mechanical claw 68 can move down with the grabbing platform 64 and the lifting platform 63 and clamp the detonator 4. Then the mechanical claw 68 drives the detonator 4 to move up, so that the detonator 4 is separated from the corresponding placement slot 611; finally, the mechanical claw 68 drives the detonator 4 along the transverse guide rail to the top of the detonator placement port 211, and releases the clamped detonator 4, thereby completing the automatic filling of the detonator 4.

[0141] See also Figure 1 The above-mentioned power supply module is mainly used to power the drilling and mine-laying module and the climbing and walking module 3 and other modules.

[0142] In one embodiment, the power module can directly use a battery, which can be directly fixed to the main base 1 by bolts, and the battery can be electrically connected to the above-mentioned drilling and mine-laying module and climbing and walking module 3 through wires to play the role of power supply.

[0143] In another embodiment, the power module further includes a solar energy storage module 7 disposed on the main base 1. The solar energy storage module 7 is electrically connected to the battery and can be used to charge the battery. Specifically, the solar energy storage module 7 may include a plurality of solar panels 71 distributed around the side of the main base 1. After receiving solar energy, the solar panels 71 can convert it into electrical energy and store it in the battery.

[0144] See also Figure 1 In order to further improve the intelligence level of the rock climbing blasting robot, an exploration and identification module is also provided on the main base 1. The exploration and identification module includes a laser radar 8 fixedly arranged on the top of the main base 1 and a control module 10 fixedly arranged on the inner side of the main base 1. The laser radar 8 is electrically connected to the control module 10.

[0145] The control module 10 can be implemented as a single-chip microcomputer or other type of microcomputer, such as a Raspberry Pi, without limitation. The laser radar 8 can scan the surrounding road conditions, such as branches on a rock face or large, difficult-to-cross rocks on the rock face. The laser radar 8 can detect and identify the surrounding environment, thereby creating a map based on the acquired information and planning a route, ultimately finding an optimal route that shortens the journey and avoids obstacles.

[0146] In another embodiment, the exploration and identification module further includes a depth camera 9 fixedly mounted on one side of the main base 1, and the depth camera 9 is electrically connected to the control module 10. By using the depth camera 9, the robot can identify the type of rock layer, the degree of weathering of the rock layer, the thickness of the rock layer, etc. during operation to find the most suitable drilling location.

[0147] In order to better understand the present invention, the following Figure 1-8 The technical solution of the present invention is described in detail:

[0148] The robot first automatically navigates to the area where blasting operations are required under the detection of the laser radar 8 and performs drilling operations. In the drilling work area, the physical and chemical properties of the rock wall are analyzed and processed by the depth camera 9 for visual recognition, and then transmitted to the control module 10. After receiving the information sent by the host computer, the control module 10 controls the mine-laying drill head 23 to move to find a suitable drilling location. If a suitable drilling location is not found after detection here, the robot will proceed to the next navigation location under the control of the control module 10 to search until a suitable drilling location is found and the detonator 4 is buried. During this process, the climbing and walking module 3 is responsible for the robot's climbing and walking, and the drilling and mine-laying module completes the drilling and detonator 4 laying operations at the selected point. In this way, the robot can climb and walk, meet the needs of blasting operations in complex terrain, and help achieve unmanned blasting operations.

[0149] In the description of this application, it should be noted that the terms "upper" and "lower" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application. Unless otherwise expressly specified and limited, the terms "installed", "connected" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be internal communication between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0150] It should be noted that, in this application, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprising a ..." does not exclude the presence of other identical elements in the process, method, article or device comprising the element.

[0151] The specific embodiments of the present invention described above do not limit the scope of protection of the present invention. Any other corresponding changes and modifications made based on the technical concept of the present invention should be included in the scope of protection of the claims of the present invention.

Claims

1. A rock climbing and blasting robot, characterized in that: It includes a main body base, a drilling and mine-laying module and a power supply module. At least two climbing and walking modules are movably arranged on the main body base. The climbing and walking modules include: a fixing module, the fixing module being arranged at one end of the climbing and walking module away from the main body base and being used for fixing to the rock wall; and A climbing drive module is in transmission connection with the fixing module and is used to drive the fixing module to move along the rock wall.

2. The rock climbing and blasting robot according to claim 1, characterized in that: The fixing module includes: a fixed bracket connected to the climbing drive module; and At least two grabbing and fixing modules are connected to the fixing bracket and are used for grabbing the rock wall.

3. The rock climbing and blasting robot according to claim 2, characterized in that: The grabbing and fixing module includes: A connecting bracket connected to the fixing bracket; a movable claw, movably arranged on the connecting bracket, for grasping the rock wall; and The grabbing drive assembly is arranged on the connecting bracket and is transmission-connected to the movable claw for driving the movable claw to move.

4. The rock climbing and blasting robot according to claim 1, characterized in that: The fixing module includes a drilling fixing module, and the drilling fixing module includes: Drill out the fixed motor and slide it along the X direction to set it on the fixed bracket; a sliding drive member, fixedly mounted on the fixed bracket and drivingly connected to the drilling fixed motor, for driving the drilling fixed motor to slide along the X direction; and The drilling fixed drill bit is fixedly connected to the output shaft of the drilling fixed motor and is used for drilling the rock wall.

5. The rock climbing and blasting robot according to claim 1, characterized in that: The climbing drive module includes: A first robotic arm segment, rotatably connected to the main body base; A second robotic arm segment, fixedly connected to the fixing module; a third robotic arm segment, wherein both ends of the third robotic arm segment are rotatably connected to the first robotic arm segment and the second robotic arm segment, respectively, and the rotation axes of the rotational connections at both ends are parallel; and a robotic arm drive assembly, in transmission connection with the first robotic arm segment, the second robotic arm segment, and the third robotic arm segment, for driving the first robotic arm segment, the second robotic arm segment, and the third robotic arm segment to rotate; Wherein, the rotation axis between the first robotic arm segment and the second robotic arm segment is perpendicular to the rotation axis between the first robotic arm segment and the main body base.

6. The rock climbing and blasting robot according to claim 5, characterized in that: The third robotic arm segment comprises: a first branch segment, located at one end of the third robotic arm segment close to the first robotic arm segment, and configured to connect to the first robotic arm segment; and a second branch segment, located at one end of the third robotic arm segment close to the second robotic arm segment, and used for connecting to the second robotic arm segment; The first branch segment and the second branch segment are rotationally connected, and their rotation axes are parallel to the rotation axis between the first robotic arm segment and the third robotic arm segment.

7. The rock climbing and blasting robot according to claim 1, characterized in that: The drilling and mine laying module includes a drilling module, and the drilling module includes: mine drill bits, used to drill holes in rock walls; A drill barrel, the drill barrel being rotatably mounted on the main body base, the drill barrel being telescopically mounted along its axial direction, and the mine-burying drill bit being mounted at one end of the drill barrel close to the rock wall; a drilling drive, fixedly mounted on the main body base and drivingly connected to the drill barrel, for driving the drill barrel to rotate; and The telescopic driving member is fixedly arranged on the main body base and is transmission-connected to one end of the drill barrel close to the mine-burying drill bit, and is used for driving the telescopic movement of the drill barrel.

8. The rock climbing and blasting robot according to claim 7, characterized in that: A detonator placement opening is provided on one end of the drill barrel away from the mine-burying drill bit, a detonator discharge outlet communicated with the detonator placement opening is provided on the mine-burying drill bit, and an outlet control component for opening or closing the detonator discharge outlet is also movably provided on the mine-burying drill bit.

9. The rock climbing and blasting robot according to claim 8, characterized in that: The mine-burying drill bit comprises: a drill body, the interior of which is hollow and one end of which is connected to the drill barrel; At least two drill bits are movably arranged along the radial direction of the drill body on the end surface of the drill body away from the drill barrel.

10. The rock climbing and blasting robot according to claim 7, characterized in that: The drilling and mine laying module further includes a drill bit switching module, which includes: a drill bit storage platform, movably arranged on the main body base; a switching drive assembly, disposed on the main body base and in transmission connection with the drill bit storage platform, for driving the drill bit storage platform toward or away from the drilling module; a turntable rotatably disposed on the drill bit storage platform and having a plurality of drill bit fixing structures for placing the mine-burying drill bits; and The first rotary driving member is fixedly arranged on the drill bit storage platform and is transmission-connected to the turntable for driving the turntable to rotate.

11. The rock climbing and blasting robot according to claim 1, characterized in that: The drilling and burying mine module also includes a detonator storage module, and the detonator storage module includes: a detonator storage platform, rotatably disposed on the main body base, for storing spare detonators; a second rotary driving member, fixedly disposed on the main body base and drivingly connected to the detonator storage platform, for driving the detonator storage platform to rotate; and The detonator grabbing assembly is arranged on the main body base and is used for grabbing the detonators on the detonator storage platform and putting them into the detonator placement opening.

12. The rock climbing and blasting robot according to claim 11, characterized in that: The detonator grabbing assembly comprises: A lifting platform slides up and down on the main body base; A grabbing platform is horizontally slidably arranged on the lifting platform; a mechanical claw, fixedly disposed on a side of the grabbing platform close to the drilling module, for grabbing the detonator on the grabbing platform; and The sliding drive assembly is arranged on the lifting platform and is in transmission connection with the grabbing platform, so as to drive the grabbing platform to move.

13. The rock climbing and blasting robot according to claim 1, characterized in that: The power module includes: a storage battery, fixedly mounted on the main body base, for supplying power; and The solar energy storage module is arranged on the main body base and is electrically connected to the battery for charging the battery.

14. The rock climbing and blasting robot according to any one of claims 1 to 13, characterized in that: The main body base is also provided with an exploration and identification module, which includes: A laser radar is fixedly mounted on the main body base and is used to scan and detect the surrounding environment; a depth camera, fixedly mounted on the main body base, for identifying surrounding rock formations; and The control module is fixedly arranged on the main body base and is electrically connected to the laser radar and the depth camera for information processing and issuing instructions.

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